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overhauled pathfinding and added a demo for it

This commit is contained in:
Ellpeck 2019-08-18 15:14:35 +02:00
parent 4e1c6d8128
commit a9593ccb74
5 changed files with 232 additions and 41 deletions

97
Demos/PathfindingDemo.cs Normal file
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@ -0,0 +1,97 @@
using System;
using System.Collections.Generic;
using System.Linq;
using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Graphics;
using MLEM.Extensions;
using MLEM.Input;
using MLEM.Pathfinding;
using MLEM.Startup;
using MonoGame.Extended;
namespace Demos {
public class PathfindingDemo : MlemGame {
private bool[,] world;
private AStar2 pathfinder;
private List<Point> path;
private void Init() {
// generate a simple random world for testing, where true is walkable area, and false is a wall
var random = new Random();
this.world = new bool[50, 50];
for (var x = 0; x < 50; x++) {
for (var y = 0; y < 50; y++) {
if (random.NextDouble() >= 0.25)
this.world[x, y] = true;
}
}
// Create a cost function, which determines how expensive (or difficult) it should be to move from a given position
// to the next, adjacent position. In our case, the only restriction should be walls and out-of-bounds positions, which
// both have a cost of float.MaxValue, meaning they are completely unwalkable.
// If your game contains harder-to-move-on areas like, say, a muddy pit, you can return a higher cost value for those
// locations. If you want to scale your cost function differently, you can specify a different default cost in your
// pathfinder's constructor
AStar<Point>.GetCost cost = (pos, nextPos) => {
if (nextPos.X < 0 || nextPos.Y < 0 || nextPos.X >= 50 || nextPos.Y >= 50)
return float.MaxValue;
return this.world[nextPos.X, nextPos.Y] ? 1 : float.MaxValue;
};
// Actually initialize the pathfinder with the cost function, as well as specify if moving diagonally between tiles should be
// allowed or not (in this case it's not)
this.pathfinder = new AStar2(cost, false);
// Now find a path from the top left to the bottom right corner and store it in a variable
// If no path can be found after the maximum amount of tries (10000 by default), the pathfinder will abort and return no path (null)
var foundPath = this.pathfinder.FindPath(Point.Zero, new Point(49, 49));
this.path = foundPath != null ? foundPath.ToList() : null;
// print out some info
Console.WriteLine("Pathfinding took " + this.pathfinder.LastTriesNeeded + " tries");
if (this.path == null)
Console.WriteLine("Couldn't find a path, press the left mouse button to try again");
}
protected override void LoadContent() {
base.LoadContent();
this.Init();
}
protected override void Update(GameTime gameTime) {
base.Update(gameTime);
// when pressing the left mouse button, generate a new world and find a new path
if (Input.IsMouseButtonPressed(MouseButton.Left)) {
this.Init();
}
}
protected override void DoDraw(GameTime gameTime) {
this.GraphicsDevice.Clear(Color.White);
this.SpriteBatch.Begin(SpriteSortMode.Deferred, null, SamplerState.PointClamp, transformMatrix: Matrix.CreateScale(14));
// draw the world with simple shapes
for (var x = 0; x < 50; x++) {
for (var y = 0; y < 50; y++) {
if (!this.world[x, y]) {
this.SpriteBatch.FillRectangle(new Vector2(x, y), new Size2(1, 1), Color.Black);
}
}
}
// draw the path
// in a real game, you'd obviously make your characters walk along the path instead of drawing it
if (this.path != null) {
for (var i = 1; i < this.path.Count; i++) {
var first = this.path[i - 1];
var second = this.path[i];
this.SpriteBatch.DrawLine(new Vector2(first.X + 0.5F, first.Y + 0.5F), new Vector2(second.X + 0.5F, second.Y + 0.5F), Color.Blue, 0.25F);
}
}
this.SpriteBatch.End();
base.DoDraw(gameTime);
}
}
}

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@ -12,6 +12,7 @@ namespace Demos {
Demos.Add("Ui", () => new UiDemo());
Demos.Add("AutoTiling", () => new AutoTilingDemo());
Demos.Add("Animation", () => new AnimationDemo());
Demos.Add("Pathfinding", () => new PathfindingDemo());
}
public static void Main(string[] args) {

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@ -1,34 +1,39 @@
using System;
using System.Collections.Generic;
using System.Linq;
using Microsoft.Xna.Framework;
namespace MLEM.Pathfinding {
public static class AStar {
public abstract class AStar<T> {
private static readonly Point[] AdjacentDirections = {
new Point(1, 0),
new Point(-1, 0),
new Point(0, 1),
new Point(0, -1)
};
public readonly T[] AllDirections;
public readonly T[] AdjacentDirections;
public GetCost DefaultCostFunction;
public float DefaultCost;
public int DefaultMaxTries;
public bool DefaultAllowDiagonals;
public int LastTriesNeeded { get; private set; }
private static readonly Point[] AllDirections = AdjacentDirections.Concat(new[] {
new Point(1, 1),
new Point(-1, 1),
new Point(1, -1),
new Point(-1, -1)
}).ToArray();
protected AStar(T[] allDirections, T[] adjacentDirections, GetCost defaultCostFunction, bool defaultAllowDiagonals, float defaultCost = 1, int defaultMaxTries = 10000) {
this.AllDirections = allDirections;
this.AdjacentDirections = adjacentDirections;
this.DefaultCostFunction = defaultCostFunction;
this.DefaultCost = defaultCost;
this.DefaultMaxTries = defaultMaxTries;
this.DefaultAllowDiagonals = defaultAllowDiagonals;
}
public static Stack<Point> FindPath(Point start, Point goal, int defaultCost, GetCost getCost, int maxTries = 10000, bool allowDiagonals = false) {
var open = new List<PathPoint>();
var closed = new List<PathPoint>();
open.Add(new PathPoint(start, goal, null, 0, defaultCost));
public Stack<T> FindPath(T start, T goal, GetCost costFunction = null, float? defaultCost = null, int? maxTries = null, bool? allowDiagonals = null) {
var getCost = costFunction ?? this.DefaultCostFunction;
var diags = allowDiagonals ?? this.DefaultAllowDiagonals;
var tries = maxTries ?? this.DefaultMaxTries;
var defCost = defaultCost ?? this.DefaultCost;
var open = new List<PathPoint<T>>();
var closed = new List<PathPoint<T>>();
open.Add(new PathPoint<T>(start, this.GetManhattanDistance(start, goal), null, 0, defCost));
var count = 0;
while (open.Count > 0) {
PathPoint current = null;
var lowestF = int.MaxValue;
PathPoint<T> current = null;
var lowestF = float.MaxValue;
foreach (var point in open)
if (point.F < lowestF) {
current = point;
@ -40,15 +45,17 @@ namespace MLEM.Pathfinding {
open.Remove(current);
closed.Add(current);
if (current.Pos.Equals(goal))
if (current.Pos.Equals(goal)) {
this.LastTriesNeeded = count;
return CompilePath(current);
}
var dirsUsed = allowDiagonals ? AllDirections : AdjacentDirections;
var dirsUsed = diags ? this.AllDirections : this.AdjacentDirections;
foreach (var dir in dirsUsed) {
var neighborPos = current.Pos + dir;
var cost = getCost(neighborPos);
if (cost < int.MaxValue) {
var neighbor = new PathPoint(neighborPos, goal, current, cost, defaultCost);
var neighborPos = this.AddPositions(current.Pos, dir);
var cost = getCost(current.Pos, neighborPos);
if (cost < float.MaxValue) {
var neighbor = new PathPoint<T>(neighborPos, this.GetManhattanDistance(neighborPos, goal), current, cost, defCost);
if (!closed.Contains(neighbor)) {
var alreadyIndex = open.IndexOf(neighbor);
if (alreadyIndex < 0) {
@ -65,14 +72,19 @@ namespace MLEM.Pathfinding {
}
count++;
if (count >= maxTries)
if (count >= tries)
break;
}
this.LastTriesNeeded = count;
return null;
}
private static Stack<Point> CompilePath(PathPoint current) {
var path = new Stack<Point>();
protected abstract T AddPositions(T first, T second);
protected abstract float GetManhattanDistance(T first, T second);
private static Stack<T> CompilePath(PathPoint<T> current) {
var path = new Stack<T>();
while (current != null) {
path.Push(current.Pos);
current = current.Parent;
@ -80,30 +92,29 @@ namespace MLEM.Pathfinding {
return path;
}
public delegate int GetCost(Point pos);
public delegate float GetCost(T currPos, T nextPos);
}
public class PathPoint {
public class PathPoint<T> {
public readonly PathPoint Parent;
public readonly Point Pos;
public readonly int F;
public readonly int G;
public readonly PathPoint<T> Parent;
public readonly T Pos;
public readonly float F;
public readonly float G;
public PathPoint(Point pos, Point goal, PathPoint parent, int terrainCostForThisPos, int defaultCost) {
public PathPoint(T pos, float distance, PathPoint<T> parent, float terrainCostForThisPos, float defaultCost) {
this.Pos = pos;
this.Parent = parent;
this.G = (parent == null ? 0 : parent.G) + terrainCostForThisPos;
var manhattan = (Math.Abs(goal.X - pos.X) + Math.Abs(goal.Y - pos.Y)) * defaultCost;
this.F = this.G + manhattan;
this.F = this.G + distance * defaultCost;
}
public override bool Equals(object obj) {
if (obj == this)
return true;
return obj is PathPoint point && point.Pos.Equals(this.Pos);
return obj is PathPoint<T> point && point.Pos.Equals(this.Pos);
}
public override int GetHashCode() {

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@ -0,0 +1,35 @@
using System;
using System.Linq;
using Microsoft.Xna.Framework;
namespace MLEM.Pathfinding {
public class AStar2 : AStar<Point> {
private static readonly Point[] AdjacentDirs = {
new Point(1, 0),
new Point(-1, 0),
new Point(0, 1),
new Point(0, -1)
};
private static readonly Point[] AllDirs = AdjacentDirs.Concat(new[] {
new Point(1, 1),
new Point(-1, 1),
new Point(1, -1),
new Point(-1, -1)
}).ToArray();
public AStar2(GetCost defaultCostFunction, bool defaultAllowDiagonals, float defaultCost = 1, int defaultMaxTries = 10000) :
base(AllDirs, AdjacentDirs, defaultCostFunction, defaultAllowDiagonals, defaultCost, defaultMaxTries) {
}
protected override Point AddPositions(Point first, Point second) {
return first + second;
}
protected override float GetManhattanDistance(Point first, Point second) {
return Math.Abs(second.X - first.X) + Math.Abs(second.Y - first.Y);
}
}
}

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@ -0,0 +1,47 @@
using System;
using System.Collections.Generic;
using System.Linq;
using Microsoft.Xna.Framework;
namespace MLEM.Pathfinding {
public class AStar3 : AStar<Vector3> {
private static readonly Vector3[] AdjacentDirs = {
new Vector3(1, 0, 0),
new Vector3(-1, 0, 0),
new Vector3(0, 1, 0),
new Vector3(0, -1, 0),
new Vector3(0, 0, 1),
new Vector3(0, 0, -1)
};
private static readonly Vector3[] AllDirs;
static AStar3() {
var dirs = new List<Vector3>();
for (var x = -1; x <= 1; x++) {
for (var y = -1; y <= 1; y++) {
for (var z = -1; z <= 1; z++) {
if (x == 0 && y == 0 && z == 0)
continue;
dirs.Add(new Vector3(x, y, z));
}
}
}
AllDirs = dirs.ToArray();
}
public AStar3(GetCost defaultCostFunction, bool defaultAllowDiagonals, float defaultCost = 1, int defaultMaxTries = 10000) :
base(AllDirs, AdjacentDirs, defaultCostFunction, defaultAllowDiagonals, defaultCost, defaultMaxTries) {
}
protected override Vector3 AddPositions(Vector3 first, Vector3 second) {
return first + second;
}
protected override float GetManhattanDistance(Vector3 first, Vector3 second) {
return Math.Abs(second.X - first.X) + Math.Abs(second.Y - first.Y) + Math.Abs(second.Z - first.Z);
}
}
}